Automatic deviation correction control method for hoisting system

Abstract

The present invention provides an automatic deviation correction control method for a hoisting system, comprising the following steps: obtaining a lateral displacement X and an advancing included angle α generated by the deflection of the hoisting system; when the lateral displacement X is not 0 and the advancing included angle α is not 0, determining whether the lateral displacement X and the advancing included angle α satisfy a preset condition; if the lateral displacement X and the advancing included angle α do not satisfy the preset condition, controlling the hoisting system to correct the deviation toward a center line; and if the lateral displacement X and the advancing included angle α satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line in a reverse direction.

The invention claimed is: 
     
       1. An automatic deviation correction control method for a hoisting system, characterized in that comprising the following steps:
 obtaining a lateral displacement X and an advancing included angle α generated by a deflection of the hoisting system, the lateral displacement X is a distance between a real-time position of the hoisting system and a center line, the advancing included angle α is an included angle between the real-time position of the hoisting system and the center line; 
 when the lateral displacement X is 0 and the advancing included angle α is also 0, maintaining the hoisting system a straight-line travel, if the advancing included angle α is not 0, controlling the hoisting system to correct a deviation toward the center line so that the advancing included angle α tends to 0; 
 when the lateral displacement X is not 0 and the advancing included angle α is 0, controlling the hoisting system to correct the deviation toward the center line; 
 when the lateral displacement X is not 0 and the advancing included angle α is also not 0, determining whether the lateral displacement X and the advancing included angle α satisfy a preset condition, if the lateral displacement X and the advancing included angle α do not satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line; and if the lateral displacement X and the advancing included angle α satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line in a reverse direction; 
 the preset condition comprising the lateral displacement X and the advancing included angle α of the hoisting system satisfies a following condition:
     X≤R   1 (1−cos α)
 
 
 wherein a sensor is provided on a first side wheel of the hoisting system for detecting the lateral displacement X and the advancing included angle α, R 1  is a rotation radius of the first side wheel of the hoisting system. 
 
     
     
       2. The automatic deviation correction control method for a hoisting system according to  claim 1 , characterized in that when the lateral displacement X is not 0 and the advancing included angle α is also not 0, if the lateral displacement X and the advancing included angle α do not satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line comprising controlling the hoisting system to correct the deviation toward the center line to a first position, the first position satisfies the following condition:
 the advancing included angle α is 0, and the lateral displacement X reaches a maximum value. 
 
     
     
       3. The automatic deviation correction control method for a hoisting system according to  claim 2 , characterized in that controlling the hoisting system to correct the deviation toward the center line to a second position, the second position satisfies the following condition:
     X=R   1 (1−cos α)
 
 when the hoisting system travels from the first position to the second position, the absolute value of the advancing included angle α gradually increases, and the lateral displacement X gradually decreases. 
 
     
     
       4. The automatic deviation correction control method for a hoisting system according to  claim 1 , characterized in that if the lateral displacement X and the advancing included angle α satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line in a reverse direction comprising controlling the hoisting system to correct the deviation toward the center line to a third position, at this time, the deviation correction is completed, controlling the hoisting system maintaining a straight-line travel, and the third position satisfies the following condition:
 the advancing included angle α is 0, and the lateral displacement X is also 0. 
 
     
     
       5. The automatic deviation correction control method for a hoisting system according to  claim 2 , characterized in that when controlling the hoisting system to correct the deviation toward the center line to the first position, the lateral displacement X satisfies the following condition:
     X   1   =X   0   +R   1 (1−cos α 0 )
 
 wherein, X 1  is the lateral displacement of the hoisting system at the first position, X 0  is the lateral displacement of the hoisting system at an initial position, R 1  is the rotation radius of the first side wheel of the hoisting system, and α 0  is the advancing included angle of the hoisting system at the initial position. 
 
     
     
       6. The automatic deviation correction control method for a hoisting system according to  claim 3 , characterized in that when controlling the hoisting system to correct the deviation toward the center line to the second position, the lateral displacement X satisfies the following condition:
     X   2   =X   1   −R   1 (1−cos α 2 )
 
 and α 2  satisfies the following condition: 
 
       
         
           
             
               
                 α 
                 2 
               
               = 
               
                 
                   
                     
                       V 
                       1 
                     
                     ⁢ 
                     
                       t 
                       2 
                     
                   
                   
                     R 
                     1 
                   
                 
                 = 
                 
                   
                     
                       V 
                       2 
                     
                     ⁢ 
                     
                       t 
                       2 
                     
                   
                   
                     R 
                     2 
                   
                 
               
             
           
         
         wherein, X 2  is the lateral displacement of the hoisting system at the second position, X 1  is the lateral displacement of the hoisting system at the first position, R 1  is a rotation radius of the first side wheel of the hoisting system, R 2  is the rotation radius of the second side wheel of the hoisting system, t 2  is the time it takes for the hoisting system to travel from the first position to the second position, V 1  is the velocity of the first side wheel of the hoisting system, V 2  is the velocity of the second side wheel of the hoisting system, and α 2  is the advancing included angle of the hoisting system at the second position. 
       
     
     
       7. The automatic deviation correction control method for a hoisting system according to  claim 1 , characterized in that when the lateral displacement of the hoisting system at an initial position satisfies the following conditions:
     X>R   1 (1−cos α)
 
 the travel route of the hoisting system is an S-curve. 
 
     
     
       8. The automatic deviation correction control method for a hoisting system according to  claim 1 , characterized in that controlling the hoisting system to correct the deviation toward a center line comprising sending deviation rectification control commands to the hoisting system by using an industrial computer. 
     
     
       9. The automatic deviation correction control method for a hoisting system according to  claim 1 , characterized in that the hoisting system comprises a crane, which comprises a tire crane, a straddle carrier and a stacker.